Concepts of Stability and

Algebraic Criteria
 Introduction
• Stability is a system implies that small changes in the
system input, in initial conditions or in system
parameters, do not result in large changes in system
output.
• A linear time-invariant system is stable if the following
two notions of system stability at satisfied:
– When the system is excited by bounded input, the output
is bounded is known as Bounded input bounded output
stability.
– In the absence of the input, the output tends towards zero
(the equilibrium state of the system) irrespective of the
initial conditions. This stability concept is known as
asymptotic stability or zero input stability.
 Bounded Input Bounded Output Stability
• A system with impulse response g t  is BIBO stable if
and only if the impulse response is absolutely


integrable, i.e.  g(τ ) dτ is finite (area under the absolute-

value curve of the impulse responses g t  evaluated
0

from t = 0 and t = ∞ must be finite).

• General conclusions of BIBO stability:-
– If all the roots of characteristic equation have negative real
parts then impulse response is bounded and eventually
decreases to zero.
Therefore,  g(τ ) dτ is finite and the system is bounded-
0
input, bounded-output stable.
 Bounded Input Bounded Output Stability (contd..)
• General conclusions of BIBO stability (contd..):-
– If any root of the characteristic

equation has a positive real
parts, g t  is unbounded and  g(τ ) dτ is infinite. The system is
therefore unstable. 0

– If the characteristic equation has repeated roots on j axis,


g(t) is unbounded and  g(τ ) dτ is infinite. The system is
therefore unstable. 0

– If one or more non-repeated roots of the characteristic 

equation are on j axis, then g(t) is bounded but  g(τ ) dτ is

0
infinite. The system is therefore unstable.
Bounded Input Bounded Output Stability (contd..)
Bounded Input Bounded Output Stability (contd..)
Zero-Input Stability
 The Routh stability Criterion
• The Routh Stability criterion is an analytical procedure for
determining if all the roots of a polynomial have negative real
parts and is used in the stability analysis of linear time-invariant
systems.
• Characteristics equation of linear time-invariant systems is of the
form.
(s)  a0 s n  a1s n1  .......  an1s1  an s 0  0

• Where the coefficients ai are real numbers.

 The Routh stability Criterion (contd..)

• If any coefficient is zero/negative, we immediately know that the system is not

stable.
• If the elements of the first column are not all positive, the number of roots in the
right half of s-plane equals the number of sign changes in the first column.
The Routh stability Criterion (contd..)
 The Routh stability Criterion (contd..)
• Case I: A row of all zeros
 The Routh stability Criterion (contd..)
• Case I: A row of all zeros
 The Routh stability Criterion (contd..)
• Case I: A row of all zeros
 The Routh stability Criterion (contd..)
• Case I: A row of all zeros
 The Routh stability Criterion (contd..)
• Case I: A row of all zeros
The Routh stability Criterion (contd..)
 The Routh stability Criterion (contd..)
• Case II: Pivot element